CN105358087A - Robot comprising a tool - Google Patents
Robot comprising a tool Download PDFInfo
- Publication number
- CN105358087A CN105358087A CN201480038306.4A CN201480038306A CN105358087A CN 105358087 A CN105358087 A CN 105358087A CN 201480038306 A CN201480038306 A CN 201480038306A CN 105358087 A CN105358087 A CN 105358087A
- Authority
- CN
- China
- Prior art keywords
- protective cover
- bar
- robot
- distal side
- sleeve
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/00336—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means with a protective sleeve, e.g. retractable or slidable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00982—General structural features
- A61B2017/00991—Telescopic means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0801—Prevention of accidental cutting or pricking
- A61B2090/08021—Prevention of accidental cutting or pricking of the patient or his organs
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Abstract
A robot according to the invention comprises a tool, in particular a surgical instrument, said tool comprising a shaft (1) having a distal joint assembly (3) with at least one degree of freedom. The robot also comprises a protective cover (4) that can be displaced from a distal position into a proximal position on the shaft. In the distal position, said protective cover accommodates the joint assembly, and when the protective cover is in the proximal position the joint assembly projects distally out of the protective cover.
Description
Technical field
The present invention relates to a kind of robot with instrument, particularly operating theater instruments; this instrument comprises the bar with distal side joint set; this joint set has at least one degree of freedom; this joint set can be incorporated in protective cover, the invention still further relates to a kind of a kind of method of corresponding protective cover and instrument for handling this robot.
Background technology
In minimally invasive robotic surgery operation, be by one or more robots guided surgery apparatus respectively, the bar of operating theater instruments is by natural or artificial entrance, especially stretch in patient body to trocar sleeve part.In order to obtain not only three rotational freedoms around entrance at this place, and a translation freedoms along direction of insertion, bar has distal side joint set, this joint set has one or more degree of freedom activated in proximal lateral, additionally end effector can be handled in patient body by these degree of freedom, such as open and close pliers, and/or end effector is adjusted, such as pivotable.Use in vivo before or after operating theater instruments, the end effector that particularly robot may be caused to guide at busy operative process and distal side joint set touch surrounding.
Summary of the invention
The object of the invention is to improve the operation for the robot of guiding tool, particularly operating theater instruments.
Object of the present invention is realized by the robot with feature as claimed in claim 1.The claimed a kind of protective cover for this robot tool of claim 12, a kind of claimed method for handling this instrument of claim 13.Preferred expansion scheme relates to dependent claims.
According to an aspect of the present invention, in one embodiment, robot has motion between robot base and tool flange, this motion has at least six, preferred at least 7 degree of freedom, particularly rotational freedom, is preferably releasably fixed with the instrument, the particularly operating theater instruments that guide by robot in tool flange.Instrument or apparatus have the bar of preferably hollow, and in one embodiment, bar is designed to tubulose at least substantially, and preferably have at least partly for circular and/or be at least partly straight, particularly polygonal outline.Additionally or alternatively, bar can by hinged by separately and/or have one or more part flexibly.
Bar has distal side joint set on the boom end of distal side, this joint set has one or more degree of freedom preferably activated in proximal lateral, particularly there is at least one for the rotational freedom relative to bar (indulging) axis pivotable, at least one translation freedoms and/or at least one for manipulating, especially opening, the function degree of freedom of the end effector of closed and/or adjustment tool bar.Additionally or alternatively, the boom end of distal side can also have one or more part flexibly, and in a kind of expansion scheme, these parts can activated in proximal lateral especially, especially bending, to embody degree of freedom, end effector is especially made to move.In the present invention, this joint that is resilient or that separate is also referred to as the joint of distal side joint set.Correspondingly, the degree of freedom of distal side joint set can be rigid body degree of freedom and/or resilient degree of freedom especially, bending (Abwinklung) of such as part or section flexibly.End effector can be made up of a part, particularly dissecting knife, pin etc., or is made up of many parts, especially shears, fixture, pliers.End effector can have for receiving and/or send the particularly fluid of gaseous state and/or liquid state and/or the opening of electromagnetic radiation, the especially camera lens of inhaler, injection nozzle or camera or laser instrument.In the present invention, distal side refers to the boom end away from robot especially, from the direction that robot goes to this end, especially end effector or leaves via it, or particularly relative to proximal lateral or near the position of robot away from the position of robot.Correspondingly, the boom end of nearly robot is particularly depended in proximal lateral, from the direction that end effector is gone to robot or left via robot, or particularly relative to distal side or away from robot position near the position of robot.In one embodiment, bar is set up or is designed for by natural or artificial entrance, especially inserts in patient body to trocar sleeve part, and/or bar has proximal lateral driver, activate for making at least one of distal side joint set, preferably all degree of freedom.Except one or more degree of freedom of distal side joint set, bar can also have the degree of freedom of more degree of freedom, particularly distal side or proximal lateral.Correspondingly, distal side joint set refer to especially rod tube and and its hinged end effector between the group in joint, one or more distal side.
According to an aspect of the present invention; protective cover movably, particularly bootablely is arranged on bar; and distally position, proximal lateral can be moved to by side position on this bar; at this; protective cover receives joint set on position, distal side, is preferably the outer contour surface that shell-like or caged ground surround joint set at least substantially, and when protective cover is in position, proximal lateral; joint set is stretched out from protective cover in distal side, particularly fully stretches out.In one embodiment, protective cover additionally at least substantially surrounds end effector on position, distal side.Correspondingly, according to an aspect, before insertion tool, especially before importing in patient body by end effector, protective cover is moved to position, proximal lateral by distally side position on the bar of instrument.In a kind of expansion scheme, this can be realized by robot self, is particularly realized by protective cover and sleeve, the connection or contact of especially overlapping needle sleeve.The protective cover being positioned at distal side of instrument particularly can be arranged in cover needle sleeve by robot, and by pushing tool bar in proximal lateral, protective cover is moved on bar.In one embodiment, after insertion tool, preferred protective cover automatically on the bar of instrument proximally side position move back to position, distal side.For this reason, in one embodiment, can make especially protective cover distally side to by pretension.
In one embodiment, robot has sleeve, particularly overlaps needle sleeve, and this sleeve preferably can releasably be connected with protective cover or is releasably connected with protective cover.In one embodiment, sleeve can be connected to form fit with protective cover or be connected by form fit.Particularly protective cover and sleeve can have guide part preferably placed in the middle.In one embodiment, protective cover has the outline of preferably taper on the end face of distal side, and sleeve has relative at least substantially complementary Internal periphery of this outline on the end face of proximal lateral.Equally, body can have the outline of preferably taper on the end face of proximal lateral, and protective cover has relative at least substantially complementary Internal periphery of this outline on the end face of distal side.Additionally or alternatively, guide part can be symmetrical or asymmetrical about the longitudinal axis of bar, is connected with the direction that sleeve edge is reversed toward each other can realize or get rid of protective cover.In one embodiment, sleeve can torsionally be connected with protective cover, can connect rotationally in another embodiment.
Additionally or alternatively, sleeve power can be connected or connected ordinatedly by power ordinatedly with protective cover.In one embodiment; on protective cover, particularly on the end, distal side of protective cover and/or on sleeve, on the end, proximal lateral of sleeve, be particularly provided with the magnet group comprising one or more permanent magnet and/or electromagnet, magnetically, be particularly controllably connected to each other to make sleeve and protective cover.Additionally or alternatively, sleeve can be connected to frictional fit with protective cover or be connected by frictional fit.
In one embodiment, protective cover has lid in distal side, when the cap is shut, its distally side to covering end effector.The lid of distal side can be designed as, and can open and close particularly turningly.For this reason, the lid of this distal side can have one or more rotatable and/or can the valve of push-and-pull, in a kind of expansion scheme, these valve outwards or can leave rod axis and/or inwardly or towards rod axis ground pivotable, or are supported by and/or transverse movable parallel relative to rod axis.Additionally or alternatively, the lid of distal side can have one or more section, in a kind of expansion scheme, these sections can outwards and/or inwardly flexibly be out of shape.These sections can carry out pivotable as a whole or as valve at material thin location or film hinged place (Filmscharnieren).Additionally or alternatively, these sections self can flexiblely be out of shape.Preferably these sections are separated from each other by material thin location or continuous print breach.Correspondingly, the lid of distal side can be opened by end effector by making protective cover move along direction, proximal lateral especially.Lid can be opened turningly and close, particularly when protective cover is brought into position, distal side at this, flexiblely and can automatically again be closed by the valve that turns down or section.Additionally or alternatively, end effector can also particularly be separated into multiple section by cover rim material thin location and cover is opened dividually, and at this, in a kind of expansion scheme, these sections can also flexibly reset again.In one embodiment, cover releasably, particularly can get loose and can be fixed on protective cover more regularly or be fixed on protective cover.
In one embodiment, particularly in order to avoid the joint set of distal side can unexpectedly expose, protective cover can be locked on position, distal side.Additionally or alternatively; particularly in order to avoid distal side joint set is unexpectedly received; and/or in order to avoid in distal side by the protective cover of pretension to sleeve, the loading of particularly overlapping needle sleeve; and/or in order to improve the cleaning to apparatus, protective cover can identical or other mode be locked on position, proximal lateral.Additionally or alternatively, protective cover can identical or other mode be locked between position, distal side and position, proximal lateral one or more discrete centre position on or continuous print in other words on arbitrary centre position.
In a kind of expansion scheme, protective cover releasably can be locked or be locked on position, distal side, position, proximal lateral and/or at least one centre position.This can particularly realize on form fit ground; particularly realize by making protective cover reverse in the mode being similar to bayonet coupling or be locked by draw-in groove on bar; in the locking of this draw-in groove, the one or more hooks on protective cover or bar are kept a firm hand in the side recess on corresponding bar or protective cover.Additionally or alternatively, protective cover power ordinatedly, particularly frictional fit ground and/or magnetically can be locked or locked.
In one embodiment, protective cover can in position, distal side, position, proximal lateral and/or torsionally, movably guided on bar between position, distal side and position, proximal lateral.For this reason, bar and/or protective cover can have one or more radial protuberance, these protuberances enter into the correspondence of protective cover or bar longitudinal fluting (
elongated slot) in.Additionally or alternatively, what bar can have imperfect circle is not exclusively in other words circle, be particularly at least partly flat, be preferably polygonal outline, and protective cover has the hole with its complementation.In one embodiment, protective cover particularly can have hole in proximal lateral usually, and bar, through this hole, makes protective cover be guided movably on bar thus.
In one embodiment, protective cover have particularly distal side, convergence insert port.Thus, distal side articulation mechanism can when position, distal side got back to by protective cover automatically, at least substantial registration rod axis.The insert port of this convergence particularly can have the bending of inclined-plane or convex in through the warp section (Meridianschnitt) of rod axis, and the insert port of this convergence in other words forms hypotenuse or rounding, particularly oval or radius circle (Radius).
In one embodiment, protective cover is strapped in bar and/or robot inseparably.For this reason; in one embodiment; the hole run through by bar of protective cover can be closed in its circumferential direction or not be cut open; and bar has at least one radial protuberance; the particularly radial collar (Bund); the external diameter of this protuberance is greater than the internal diameter in hole and plays the effect of stop part thus, and it can prevent from or at least hinder taking off protective cover in distal side.Additionally or alternatively, protective cover can also by being preferably strapped in bar and/or robot by the traction piece of pretension, particularly safety rope.
In one embodiment, protective cover is made up of elastomeric material at least in part.Protective cover can be made up of metal and/or one or more synthetic materials in whole or in part, is particularly made up of thermoplastic, silicone and/or preferred thermoplastic elastomer.
In one embodiment, protective cover is designed to single type formation or integrally forms.Equally also protective cover can be designed to be made up of many parts.Particularly protective cover can have pilot sleeve for leading on bar and for receiving the cover sleeve (Abdeckh ü lse) of distal side joint set.In one embodiment, pilot sleeve and cover sleeve releasably, particularly form fit ground and/or power ordinatedly, particularly frictional fit ground and/or magnetically can be connected or be connected each other each other.
In one embodiment, whole protective cover or one or more parts of protective cover, particularly pilot sleeve and/or cover sleeve can be removed from bar.For this reason particularly in one embodiment, protective cover, especially pilot sleeve and/or cover sleeve in one embodiment have particularly continuous print breach, and in one embodiment, this breach proximally side end face extends to distal side end face.In another embodiment, one or more breach extends from the hole run through by bar of protective cover, particularly pilot sleeve, and protective cover or pilot sleeve can be taken off from bar when elastic dilatation occurs in hole.
In one embodiment, protective cover circumferentially at least substantially can cover joint set completely on position, distal side, or has the side at least substantially closed.Additionally or alternatively, protective cover can on position, distal side distally the direction of side at least substantially cover joint set completely, or there is the far-end side cover at least substantially closed.Additionally or alternatively, protective cover particularly at least substantially fully can cover joint set along the direction of proximal lateral on position, distal side except the hole run through by bar, or there is the proximal lateral end face at least substantially closed.Equally, protective cover can be designed as caged and has side, distal side end face and/or proximal lateral end face, and these end faces have one or more opening respectively.
Accompanying drawing explanation
Other advantages of the present invention and feature are provided by dependent claims and embodiment.For this reason, Some illustrative ground:
Fig. 1 shows a part for the bar of the robotic surgery apparatus according to one embodiment of the present invention, this operating theater instruments there is end effector and be positioned at position, distal side protective cover and with they isolated cover needle sleeve (Fig. 1 (a)), or there is the protective cover and coupled cover needle sleeve (Fig. 1 (b)) that are positioned at position, proximal lateral;
Fig. 2 shows the single type protective cover according to the present invention's two kinds of embodiments;
Fig. 3 shows pilot sleeve according to the protective cover of one embodiment of the present invention and cover sleeve with top view (Fig. 3 (a)) or sectional view (Fig. 3 (b));
Fig. 4 shows the protective cover according to two kinds of embodiments of the present invention, and it has different convergence insert ports;
Fig. 5 shows according to the protective cover of two kinds of embodiments of the present invention and can connected cover needle sleeve;
Fig. 6 shows the protective cover according to four kinds of embodiments of the present invention, and it has different caps;
Fig. 7 shows the protective cover according to one embodiment of the present invention, and it is directed rotationally and be strapped on bar inseparably on bar;
Fig. 8 shows the protective cover according to one embodiment of the present invention, and it is directed rotationally and be strapped on bar inseparably on bar;
Fig. 9 shows the protective cover according to one embodiment of the present invention, and it is torsionally directed and be strapped on bar inseparably on bar;
Figure 10 shows the protective cover according to one embodiment of the present invention, and it is torsionally directed and be strapped on bar inseparably on bar;
Figure 11 shows the protective cover according to one embodiment of the present invention, and it is strapped on bar inseparably;
Figure 12 shows the protective cover according to one embodiment of the present invention, and it is locked on bar in position, distal side;
Figure 13 shows the protective cover according to one embodiment of the present invention, and it is locked on bar in position, distal side;
Figure 14 shows the protective cover according to one embodiment of the present invention, and it is locked on bar in position, distal side;
Figure 15 shows the bar of the operating theater instruments of the robot according to one embodiment of the present invention, and this operating theater instruments has end effector, protective cover and the cover needle sleeve be connected with protective cover;
Figure 16 shows the bar of the operating theater instruments of the robot according to one embodiment of the present invention, this operating theater instruments has end effector, in distal side by the protective cover of pretension and cover needle sleeve; With
Figure 17 shows the bar of the operating theater instruments of the robot according to one embodiment of the present invention, this operating theater instruments has end effector, in distal side by the protective cover of pretension and cover needle sleeve.
Detailed description of the invention
Fig. 1 shows a part (left side is not shown in FIG) for the bar 1 of the operating theater instruments of the robot according to one embodiment of the present invention, this operating theater instruments comprises end effector 2 and has distal side joint set 3 and the protective cover 4 of two rotational freedoms, protective cover is enclosed within needle sleeve 5 by robot and guide instrument bar enters or through this cover needle sleeve (in the order illustrated of Fig. 1 (a)-Fig. 1 (b) from left to right), make protective cover on bar, the position, proximal lateral as shown in Fig. 1 (b) can be moved to from the position, distal side such as shown in Fig. 1 (a) thus.
As shown in the profile in Fig. 1; protective cover is at position, distal side (Fig. 1 (a)) upper storage distal side joint set and end effector; and on position, proximal lateral (Fig. 1 (b)), joint set and end effector are protruding with cover needle sleeve from protective cover in distal side.
Before operating theater instruments is used for patient; apparatus bar moves in distal side in cover needle sleeve or continues across this cover needle sleeve by robot; thus make protective cover can by robot on the bar of apparatus by with cover needle sleeve contact, namely with cover needle sleeve connection and distally side position move to position, proximal lateral.After operating theater instruments is used for patient; apparatus bar to pull out or away from cover needle sleeve from cover needle sleeve in proximal lateral by robot, thus make with overlap protective cover that needle sleeve is connected can by robot on the bar of instrument proximally side position move to position, distal side.
In this way, protective cover can protect surrounding or external distal side joint set 3 and end effector 2.
Protective cover can have the lid 6 of distal side, and in one embodiment, Gai Yu overlaps before needle sleeve connects for the first time and can be removed dividually or be removed dividually.In another embodiment, the lid of distal side can also be designed to pivotable valve, thin film etc. to be broken through.
Fig. 2 show corresponding to Fig. 1, according to the single type protective cover of two kinds of embodiments of the present invention.Corresponding element is represented by identical Reference numeral each other, and therefore the difference with other illustrated embodiment will be only discussed below, remaining please refer to the description to other illustrated embodiment.
In the embodiment such as shown in Fig. 2 (a); the tubular safety cover 4 of single type have on bar (not shown), guide protective cover, proximal lateral (left side in Fig. 2) section 4a that diameter is less, and for represent larger insertion opening and/or for receive distal side joint set and end effector (not shown), distal side (the right in Fig. 2) section 4b that diameter is larger.As shown in the profile in Fig. 1, arrange porose in the section 4a of proximal lateral, this hole is run through by bar.In this way, protective cover can be guided on bar and move.Protective cover can take off from bar, and has the breach (not shown) starting from this hole especially for this reason, and this breach makes it possible to carry out radial dilatation, and is taken off from bar by protective cover in distal side.Equally, protective cover also can be strapped on bar inseparably.Protective cover can be made up of synthetic material especially, is preferably made by rigid or soft thermoplastic's plastics, thermoplastic elastomer (TPE), silicone and/or is made of metal.
In the embodiment such as shown in Fig. 2 (b), distal side section 4b is designed to corrugated tube.
Fig. 3 with top view (Fig. 3 (a)) or sectional view (Fig. 3 (b)) show in fig. 1 and 2 corresponding that illustrate, according to the pilot sleeve 4.1 of the protective cover of one embodiment of the present invention and attachable with it (Fig. 3 (a)) or (Fig. 3 (b)) cover sleeve 4.2 of being connected.Element is represented by identical Reference numeral accordingly each other, only inquires into the difference with embodiment shown in addition therefore, and the description of all the other embodiments shown in reference in addition
Pilot sleeve 4.1 can be removed or directed movement on bar inseparably, and cover sleeve 4.2 is with pilot sleeve form fit ground and/or such as by press-fit, frictional fit ground is connected, and therefore cover sleeve can be taken off from pilot sleeve and apparatus bar.
Fig. 4 show in Fig. 1 and Fig. 3 (b) corresponding that illustrate, according to the protective cover 4 of two kinds of embodiments of the present invention.Corresponding element is represented by identical Reference numeral each other, and therefore the difference with other illustrated embodiment will be only discussed below, remaining please refer to the description to other illustrated embodiment.
In the diagram, on the centre position of protective cover 4 between position, distal side and position, proximal lateral, on position, distal side, protective cover receives end effector and distal side joint set (with reference to figure 1 (a), Fig. 3 (b)); On position, proximal lateral, the joint set of distal side is stretched out (with reference to figure 1 (b)) from protective cover completely.
Protective cover 4 has (in Fig. 4 the right) the reducing-pitch thread insertion opening 4c or 4d laying respectively at distal side; be hypotenuse 4c in the embodiment shown in Fig. 4 (a), be oval rounding 4d in the embodiment shown in Fig. 4 (b).Thus, as shown in the Motion arrow in Fig. 4, when protective cover 4 moves to position, distal side and therefore makes joint set be inserted protective cover by reducing-pitch thread insertion opening and be housed therein, distal side joint set is aimed at rod axis at least substantially.
Fig. 5 show in Fig. 1 (a) corresponding that illustrate, according to the protective cover 4 of two kinds of embodiments of the present invention and cover needle sleeve 5 attachable with it.Corresponding element is represented by identical Reference numeral each other, and therefore the difference with other illustrated embodiment will be only discussed below, remaining please refer to the description to other illustrated embodiment.
Protective cover 4 and cover needle sleeve 5 all have guide part placed in the middle.For this reason; in the embodiment shown in Fig. 5 (a); protective cover 4 on the end face of distal side (in Fig. 5 the right) has outline, particularly the Outer Taper 4e of taper, and sleeve 5 (in Fig. 5 left side) on the end face of proximal lateral has and the Internal periphery of its complementation, particularly inner cone 5e.Contrary in the embodiment shown in Fig. 5 (b), sleeve 5 has the taper outline of Outer Taper 5f form on the end face of proximal lateral, and protective cover 4 has the Internal periphery with the inner cone 4f form of its complementation on the end face of distal side.
Protective cover 4 and cover needle sleeve 5 can torsionally, particularly be connected to each other to frictional fit, or torsionally, are particularly connected to each other to frictional fit.Equally, they can also be connected to each other relative torsion or be connected to each other by relative torsion, even if so that particularly when protective cover is torsionally connected with apparatus bar, also can realize the rotation of apparatus bar relative to cover needle sleeve.
Fig. 6 show in Fig. 2 and Fig. 3 (a) corresponding that illustrate, according to the protective cover 4 of four kinds of embodiments of the present invention, they have different lids.Corresponding element is represented by identical Reference numeral each other, and therefore the difference with other illustrated embodiment will be only discussed below, remaining please refer to the description to other illustrated embodiment.
In the embodiment shown in Fig. 6 (a), the cover of distal side is designed to the valve 6.1 of single type, and this valve outwards pivotable or pivotable can leave the rod axis shown in dotted line.In the embodiment shown in Fig. 6 (b), the lid of distal side has multiple section 6.2, and these sections flexibly can be out of shape or be outwards pivoted in the configuration shown in dotted line.For this reason, when first movement, the material thin location between section 6.2 can be separated.In the embodiment shown in Fig. 6 (c), the lid of distal side has two valve 6.3, and these valve can hingedly pivotable and outwards leave the configuration entered into shown in dotted line.In the embodiment shown in Fig. 6 (d), the lid of distal side has two valve 6.4, and these valve can outwards leave the configuration entered into shown in dotted line to elastic deformation.For this reason, the material thin location between section 6.4 can be separated when first movement.
Fig. 7 show in Fig. 1 (a), Fig. 3 (b) and Fig. 5 corresponding that illustrate, according to the protective cover of one embodiment of the present invention, it is guided rotationally and is strapped on bar inseparably on bar.Corresponding element is represented by identical Reference numeral each other, and therefore the difference with other illustrated embodiment will be only discussed below, remaining please refer to the description to other illustrated embodiment.
In addition, bar 1 has the radial collar 1.1 in the proximal lateral relative to distal side joint set 3, and the external diameter of this collar is greater than the internal diameter of the circular port 4g of protective cover 4, and this hole is run through with a gap by columniform bar 1.
Fig. 8 show in the figure 7 corresponding that illustrate, according to the protective cover of one embodiment of the present invention, it can be guided rotationally and be strapped on bar inseparably on bar.Corresponding element is represented by identical Reference numeral each other, and therefore the difference with other illustrated embodiment will be only discussed below, remaining please refer to the description to other illustrated embodiment.
In the embodiment shown in Fig. 8, the radial collar 1.1 proximal lateral and distal side joint set 3 spaced apart.
Fig. 9 show in Fig. 7, Fig. 8 corresponding that illustrate, according to the protective cover of one embodiment of the present invention, it is torsionally guided and is strapped on bar inseparably on bar.Corresponding element is represented by identical Reference numeral each other, and therefore the difference with other illustrated embodiment will be only discussed below, remaining please refer to the description to other illustrated embodiment.
In the embodiment shown in Fig. 9, hole 4g and bar 1 at least partly (top in Fig. 9) have smooth profile, in this case scabble all the other circular contours form, to make protective cover torsionally be guided on bar.In a kind of modification, hole and bar can also have complementary polygon Internal periphery or outline, particularly triangle, quadrangle or polygonal Internal periphery or outline.That equally also can have other imperfect circle or be not exclusively circle profile, such as elliptic contour, polygon shaft section etc.
Figure 10 show in fig .9 corresponding that illustrate, according to the protective cover of one embodiment of the present invention, it is torsionally guided and is strapped on bar inseparably on bar.Corresponding element is represented by identical Reference numeral each other, and therefore the difference with other illustrated embodiment will be only discussed below, remaining please refer to the description to other illustrated embodiment.
For this reason, be provided with the longitudinal fluting 1.2 of particularly form of grooves in bar 1, the radial protuberance 4h of protective cover can be directedly mobile in this longitudinal fluting.This radial protuberance 4h can with remaining protective cover channel floor form, or be designed to the independent slide block that is connected with all the other protective cover parts.By guiding boss 4h in the groove 1.2 that is closed in side or distal side, protective cover 4 is torsionally guided and is strapped on bar inseparably simultaneously on bar 1.
Figure 11 shows a part (left side is not shown in FIG) for the operating theater instruments of the robot according to one embodiment of the present invention, and this operating theater instruments comprises bar 1, end effector 2 and has distal side joint set 3 and the protective cover 4 of two rotational freedoms.Corresponding element is represented by identical Reference numeral each other, and therefore the difference with other illustrated embodiment will be only discussed below, remaining please refer to the description to other illustrated embodiment.
In the embodiment shown in Figure 11, protective cover 4 is strapped on bar inseparably by safety rope 7.
Figure 12 show in Fig. 7-Figure 10 corresponding that illustrate, according to the protective cover of one embodiment of the present invention, it is strapped on bar inseparably.Corresponding element is represented by identical Reference numeral each other, and therefore the difference with other illustrated embodiment will be only discussed below, remaining please refer to the description to other illustrated embodiment.
In the embodiment shown in Figure 12, protective cover can lock by releasably, form fit on position, distal side.For this reason, the groove 1.2 in bar 1 has the side (Schenkel) 1.3 in circumferentially direction, and radial protuberance 4h can be inserted in this side by the torsion of protective cover 4 on bar 1, and protective cover 4 can bayonet coupling mode be locked.For clarity sake, what protuberance 4h mono-aspect was indicated in groove 1.2 is parallel in the part of rod axis, to be indicated on the other hand in side 1.3 and to be marked as 4h ' at this.In the unshowned modification of one, replace bayonet lock tightly, the clamping device of the blocking mechanism that can also arrange form fit, the draw-in groove be particularly spring loaded or frictional fit, to lock protective cover.
Figure 13 shows a kind of expansion scheme about Figure 10 illustrated embodiment.Corresponding element is represented by identical Reference numeral each other, and therefore the difference with other illustrated embodiment will be only discussed below, remaining please refer to the description to other illustrated embodiment.
In the embodiment shown in Figure 13, moveable protective cover 4 is locked on bar by means of the cross section expansion of groove 1.2.For this reason, protuberance 4h is designed to resilient, expansion also can therefore provide the movement of resisting and coming from cross section expansion in cross section expansion.
Figure 14 show in Fig. 7-Figure 10, Figure 12-Figure 13 corresponding that illustrate, according to the protective cover of one embodiment of the present invention, it is locked on bar.Corresponding element is represented by identical Reference numeral each other, and therefore the difference with other illustrated embodiment will be only discussed below, remaining please refer to the description to other illustrated embodiment.
In the embodiment shown in Figure 14, bar 1 and/or protective cover 4 have magnet 8, and protective cover is locked on the predeterminated position on bar by this magnet.This can be position, distal side as shown in embodiment in Figure 14.Additionally or alternatively, can in a similar fashion by being in another predeterminated position, be particularly in the protective cover of position, proximal lateral and be magnetically locked on bar.Except the locking on position, distal side, additionally or alternatively, can also arrange as above with reference to the locking as described in Figure 12 and Figure 13, for the locking at least one other position, particularly on position, proximal lateral.
Figure 15 show in fig. 11 corresponding that illustrate, according to the part of the operating theater instruments of the robot of one embodiment of the present invention.Corresponding element is represented by identical Reference numeral each other, and therefore the difference with other illustrated embodiment will be only discussed below, remaining please refer to the description to other illustrated embodiment.
Protective cover 4 on shown position, proximal lateral with cover needle sleeve 5 momently and be over and over again releasably connected.This is diagrammatically illustrated to retaining mechanism 9 in fig .15, this retaining mechanism can be designed as occlusion and the slot mechanism of form fit especially, from consolidating tapered connection or magnetic part.
Figure 16 show in Figure 11 and Figure 15 corresponding that illustrate, according to the part of the operating theater instruments of the robot of one embodiment of the present invention.Corresponding element is represented by identical Reference numeral each other, and therefore the difference with other illustrated embodiment will be only discussed below, remaining please refer to the description to other illustrated embodiment.
In the embodiment shown in Figure 16, protective cover distally side to (in figure 16 to the right) by spring 10 by pretension.When robot proximal lateral by apparatus bar from cover needle sleeve pull-out or when leaving this cover needle sleeve, spring 10 makes protective cover 4 automatically move back to position, distal side.In addition, compacted spring 10 is in operation and will be positioned at the protective cover of proximal lateral relative to the pressing of cover needle sleeve.
Figure 17 show in Figure 11, Figure 15 and Figure 16 corresponding that illustrate, according to the part of the operating theater instruments of the robot of one embodiment of the present invention.Corresponding element is represented by identical Reference numeral each other, and therefore the difference with other illustrated embodiment will be only discussed below, remaining please refer to the description to other illustrated embodiment.
In the embodiment shown in Figure 17, protective cover 4 is connected with the region, proximal lateral of bar, particularly end by the extension sleeve 12 around bar 1.The outer body of bar 1 can be advantageously enable to be subject to mechanical supporting by protective cover 4 in distal side by extension sleeve 12.Additionally or alternatively, extension sleeve can guard bar.
In the embodiment shown in Figure 17, extension sleeve has optional mechanism 13, for compensating gravitation, thus balances the gravity of the cover needle sleeve be connected with protective cover 4.Additionally or alternatively, can utilize mechanism 13 that protective cover 4 is retracted and/or is fixed on optional position along rod axis.
Reference numerals list
1 bar
The 1.1 radial collars
1.2 longitudinal fluting
1.3 side
2 end effectors
3 joint set
4 protective covers
4.1 pilot sleeve
4.2 cover sleeve
4a proximal lateral part
4b distal side part
4c hypotenuse (reducing-pitch thread insert port)
The rounding (reducing-pitch thread insert port) of 4d ellipse
4e, 5f Outer Taper
4f, 5e inner cone
The hole of 4g circle
4h, 4h ' radial protuberance
5 cover needle sleeve
The lid of 6 distal sides
The valve of 6.1 single types
6.2,6.4 sections
6.3 valve
7 safety ropes
8 magnets
9 retaining mechanisms
10 springs
12 extension sleeves
13 mechanisms.
Claims (14)
1. one kind has the robot of instrument, particularly operating theater instruments; described instrument has bar (1); described bar has the joint set (3) of distal side; described joint set has at least one degree of freedom; it is characterized in that; be provided with protective cover (4); described protective cover distally can move to position, proximal lateral by side position on described bar; wherein; described protective cover receives described joint set on position, described distal side; and when described protective cover is in described position, proximal lateral, described joint set is protruding from described protective cover in distal side.
2. the robot according to aforementioned claim; it is characterized in that; be provided with sleeve, particularly overlap needle sleeve (5), described sleeve preferably can releasably, particularly form fit ground and/or power ordinatedly, particularly frictional fit ground and/or be magnetically connected with described protective cover.
3. the robot according to aforementioned claim, is characterized in that, described protective cover and described sleeve have guide part (4e, 5e particularly placed in the middle; 4f, 5f).
4. according to robot in any one of the preceding claims wherein, it is characterized in that, described protective cover has the lid (6) of distal side.
5. according to robot in any one of the preceding claims wherein, it is characterized in that, the lid of described distal side is single type or is made up of many parts, and/or can pivotable, and/or can preferred elastomeric ground and/or be out of shape dividually.
6. according to robot in any one of the preceding claims wherein; it is characterized in that, on described protective cover at least one centre position on position, described distal side, on position, described proximal lateral and/or between position, described distal side and position, described proximal lateral preferably can releasably, particularly form fit ground and/or power ordinatedly, particularly frictional fit ground and/or be magnetically locked.
7. according to robot in any one of the preceding claims wherein; it is characterized in that, described protective cover distally side to by pretension and/or on described bar can torsionally or rotationally, particularly by around the extension sleeve (12) of described bar directed mobile.
8., according to robot in any one of the preceding claims wherein, it is characterized in that, described protective cover have convergence, particularly in the insert port (4c, 4d) of distal side.
9. according to robot in any one of the preceding claims wherein, it is characterized in that, described protective cover is particularly strapped on described bar and/or in described robot inseparably by the extension sleeve (12) around described bar.
10. according to robot in any one of the preceding claims wherein; it is characterized in that, described protective cover have pilot sleeve (4.1) and with described pilot sleeve preferably releasably, particularly form fit ground and/or power ordinatedly, particularly frictional fit ground and/or the cover sleeve (4.2) that is magnetically connected.
11. according to robot in any one of the preceding claims wherein; it is characterized in that; described protective cover at least partially, particularly pilot sleeve (4.1) and/or with described pilot sleeve preferably releasably, particularly form fit ground and/or power frictional fit ground and/or the cover sleeve (4.2) that is magnetically connected can be removed from described bar ordinatedly, particularly.
12. 1 kinds of protective covers (4); for the instrument according to robot in any one of the preceding claims wherein; it is characterized in that; described protective cover distally can move to position, proximal lateral by side position on the bar (1) of described instrument; wherein; described protective cover receives described joint set (3) on position, described distal side, and when described protective cover is in described position, proximal lateral, described joint set is protruding from described protective cover in distal side.
13. 1 kinds for handling the method for the instrument according to robot in any one of the preceding claims wherein; it is characterized in that; before use instrument; particularly by described robot; especially by preferably releasably, particularly form fit ground and/or power ordinatedly, particularly frictional fit ground and/or magnetically with sleeve, the connection of particularly overlapping needle sleeve (5), make protective cover (4) on the bar (1) of instrument distally side position move to position, proximal lateral.
14., according to method in any one of the preceding claims wherein, is characterized in that, described protective cover moves to position, described distal side from position, described proximal lateral after use instrument on the bar of described instrument.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE201310007597 DE102013007597A1 (en) | 2013-05-02 | 2013-05-02 | Robot with tool |
| DE102013007597.1 | 2013-05-02 | ||
| PCT/EP2014/000646 WO2014177236A1 (en) | 2013-05-02 | 2014-03-11 | Robot comprising a tool |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105358087A true CN105358087A (en) | 2016-02-24 |
Family
ID=50277187
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201480038306.4A Pending CN105358087A (en) | 2013-05-02 | 2014-03-11 | Robot comprising a tool |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US20160213434A1 (en) |
| EP (1) | EP2991573A1 (en) |
| KR (1) | KR101770051B1 (en) |
| CN (1) | CN105358087A (en) |
| DE (1) | DE102013007597A1 (en) |
| WO (1) | WO2014177236A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111989063A (en) * | 2018-04-17 | 2020-11-24 | 爱惜康有限责任公司 | Protective measures for robotic electrosurgical instruments |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2553062B (en) * | 2015-03-12 | 2020-12-02 | Synaptive Medical Barbados Inc | System and method for guided port insertion to minimize trauma |
| US10617429B2 (en) * | 2017-08-10 | 2020-04-14 | Ethicon Llc | Surgical clip applier |
| US11364052B2 (en) | 2018-04-17 | 2022-06-21 | Cilag Gmbh International | Scissor sleeve assembly protection |
| US11331814B2 (en) * | 2018-09-13 | 2022-05-17 | Kinova Inc. | Articulated mechanism with protective sleeve at joint |
| IT202000002551A1 (en) * | 2020-02-10 | 2021-08-10 | Medical Microinstruments Spa | TIP PROTECTOR DEVICE FOR A SURGICAL INSTRUMENT, ASSEMBLY AND METHOD |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060013523A1 (en) * | 2004-07-16 | 2006-01-19 | Luna Innovations Incorporated | Fiber optic position and shape sensing device and method relating thereto |
| US20070089557A1 (en) * | 2004-09-30 | 2007-04-26 | Solomon Todd R | Multi-ply strap drive trains for robotic arms |
| US20110277775A1 (en) * | 2007-06-13 | 2011-11-17 | Intuitive Surgical Operations, Inc. | Surgical system instrument sterile adapter |
| US20130197539A1 (en) * | 2003-05-21 | 2013-08-01 | The John Hopkins University | Devices, systems and methods for minimally invasive surgery of the throat and other portions of mammalian body |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4349846B2 (en) * | 2003-06-11 | 2009-10-21 | Ｈｏｙａ株式会社 | Endoscopy forceps |
| US7798386B2 (en) * | 2007-05-30 | 2010-09-21 | Ethicon Endo-Surgery, Inc. | Surgical instrument articulation joint cover |
| US10537713B2 (en) | 2009-05-25 | 2020-01-21 | Stereotaxis, Inc. | Remote manipulator device |
| KR102038654B1 (en) | 2010-07-09 | 2019-10-30 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | A surgical device including an electrosurgical instrument and cover |
| JP2012070933A (en) * | 2010-09-28 | 2012-04-12 | Olympus Corp | Attachment and detachment mechanism, and operation tool system |
| KR101468007B1 (en) * | 2011-07-14 | 2014-12-03 | 주식회사 모바수 | Instrument for Minimally Invasive Surgery That Can Selectively Cover Its End Effector |
| US8905944B2 (en) * | 2011-09-07 | 2014-12-09 | Vlv Associates, Inc. | Protective cover assembly for a needle assembly |
| DE102012108809A1 (en) * | 2012-09-19 | 2014-03-20 | Aesculap Ag | Surgical protection device for a surgical sealing element and surgical sealing system |
| EP2967604A4 (en) * | 2013-03-15 | 2016-11-23 | Volcano Corp | Retrieval and centering device and method with pressure and ultrasound features |
-
2013
- 2013-05-02 DE DE201310007597 patent/DE102013007597A1/en not_active Withdrawn
-
2014
- 2014-03-11 US US14/787,955 patent/US20160213434A1/en not_active Abandoned
- 2014-03-11 KR KR1020157034203A patent/KR101770051B1/en active IP Right Grant
- 2014-03-11 EP EP14709888.3A patent/EP2991573A1/en not_active Ceased
- 2014-03-11 CN CN201480038306.4A patent/CN105358087A/en active Pending
- 2014-03-11 WO PCT/EP2014/000646 patent/WO2014177236A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130197539A1 (en) * | 2003-05-21 | 2013-08-01 | The John Hopkins University | Devices, systems and methods for minimally invasive surgery of the throat and other portions of mammalian body |
| US20060013523A1 (en) * | 2004-07-16 | 2006-01-19 | Luna Innovations Incorporated | Fiber optic position and shape sensing device and method relating thereto |
| US20070089557A1 (en) * | 2004-09-30 | 2007-04-26 | Solomon Todd R | Multi-ply strap drive trains for robotic arms |
| US20110277775A1 (en) * | 2007-06-13 | 2011-11-17 | Intuitive Surgical Operations, Inc. | Surgical system instrument sterile adapter |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111989063A (en) * | 2018-04-17 | 2020-11-24 | 爱惜康有限责任公司 | Protective measures for robotic electrosurgical instruments |
Also Published As
| Publication number | Publication date |
|---|---|
| EP2991573A1 (en) | 2016-03-09 |
| US20160213434A1 (en) | 2016-07-28 |
| WO2014177236A1 (en) | 2014-11-06 |
| DE102013007597A1 (en) | 2014-11-06 |
| KR101770051B1 (en) | 2017-08-21 |
| KR20160008219A (en) | 2016-01-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105358087A (en) | Robot comprising a tool | |
| JP7168628B2 (en) | Surgical robotic drapes for transmitting drive | |
| JP6880138B2 (en) | Surgical cannula mounts and related systems and methods | |
| JP6895462B2 (en) | Needle shield remover | |
| US9510824B2 (en) | Low profile medical device and related methods of use | |
| JP2018515221A5 (en) | ||
| KR101434629B1 (en) | Trocar assembly | |
| JP7364732B2 (en) | Reloadable hemostasis clip device with an engagement part on the sleeve | |
| US10786254B2 (en) | Through the scope tension member release clip | |
| EP2155083B1 (en) | Seal assembly for a cannula | |
| CN110115602A (en) | A kind of controllable plumbing installation and its double nip device assisting endoscope treatment | |
| JP2006230707A (en) | Intraocular lens insertion tool | |
| US10016216B2 (en) | Surgical protective device for a surgical sealing element and surgical sealing system | |
| US9750539B2 (en) | Medical instrument | |
| US10285572B2 (en) | Actuator for a surgical instrument | |
| JP6955011B2 (en) | Endoscope needle holder | |
| CA2527556A1 (en) | Surgical seal | |
| JP5136966B2 (en) | Intraocular lens insertion device | |
| CN212816202U (en) | Gastrointestinal endoscope sleeve assembly | |
| JP2011087976A5 (en) | ||
| US11969358B2 (en) | Prosthesis impactor assembly | |
| EP2617364B1 (en) | Surgical instrument for positioning a sleeve | |
| CN115802960A (en) | Plug-in clamping device and clamping piece thereof | |
| WO2020012173A1 (en) | Prosthesis impactor assembly | |
| ITMO20010037A1 (en) | MOTORIZABLE UTERINE MANIPULATOR FOR LAROSCOPY AND CHROMOSCOPY |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160224 |